ANDOVER, Mass. — A state trooper who was traveling with the governor of New Hampshire in Massachusetts rescued a man from a fiery crash, the result of a road rage incident.

Investigators say Trooper Scott Frye was traveling with Gov. John Lynch and his wife in an official capacity when they saw what happened Sunday night on Interstate 93 in Andover.

Police said an SUV went over a guardrail, rolled down an embankment and trapped the driver inside. The vehicle caught on fire.

Authorities say Lynch called 911 and Frye grabbed a fire extinguisher. The driver, whose legs were pinned under the dashboard, called out in pain and pleaded not to let him burn.

Frye climbed into the burning SUV through the front windshield. He moved the driver’s seat back, reached under the dashboard and pulled the man’s legs free. Manchester, N.H., firefighter Keith Knight, who was off-duty, helped pull the driver to safety just as the SUV became engulfed in flames.

Frye was treated for smoke inhalation. The driver, Steven Marques, 61, of Methuen, was in stable condition Monday at Lawrence General Hospital. WCVB-TV in Boston reported he is a Peabody, Mass., police officer. Messages left at that department and for Massachusetts state police weren’t immediately returned Monday afternoon.

Massachusetts State Police spokesman David Procopio said Marques was issued a warning for a marked lanes violation. He said the crash remained under investigation and that police were seeking the other driver, who was in a red pickup truck.

“Trooper Frye demonstrated tremendous courage and bravery, putting himself in danger so that he could rescue the driver from that burning vehicle,” Lynch said. “I commend Scott for his heroic, life-saving actions.”

Lynch also thanked Knight “for his bravery and assistance at the scene.”

Frye said he was only doing what any other trooper or public safety official would do. “I am just glad that everyone is okay,” he said.

In 2007, Lynch and a trooper tried to push a woman’s car out of a ditch. They needed a tow truck.